I think I've probably created part of my kids issues with sharing bikes. When DS was younger I regularly told DD she was not supposed to be riding his little ride on and he was to small to safely rider her bike. They are generally good at sharing when kids come over but bikes are defiantly not considered sharing toys.
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It's rare they have their own friends round but I have mum friends and their kids round regularly. It helps me to remember that they are my friends not DSs and he may or may not want to play with them.
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I also verbalise my thinking when I am clearing up before people arrive, telling him why I'm putting certain toys away (eg too small pieces for a baby, something that is easily damaged, only for one person to play with). We also talk through what would be good to get out and why (eg we have enough duplo for lots of children to build. Very slow going but I think it is helping.
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I like the suggestions of bubbles. Along with red light green light my kids like touch blue, I call touch blue/green/wood/something soft or whatever I can think of and they have to find something that matches the description. Best of all I can sit down with a cup of tea and still call things out







